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<h1>mindsensors-pfmate.h</h1>  </div>
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<div class="contents">
<a href="mindsensors-pfmate_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup pfmate PFMate Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * PFMate Sensor</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-pfmate.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 <span class="comment"></span>
<a name="l00012"></a>00012 <span class="comment">/** \file mindsensors-pfmate.h</span>
<a name="l00013"></a>00013 <span class="comment"> * \brief Mindsensors PFMate Sensor driver</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> * mindsensors-pfmate.h provides an API for the Mindsensors PFMate Sensor driver</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * Changelog:</span>
<a name="l00018"></a>00018 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> * Credits:</span>
<a name="l00021"></a>00021 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00022"></a>00022 <span class="comment"> *</span>
<a name="l00023"></a>00023 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00026"></a>00026 <span class="comment"></span>
<a name="l00027"></a>00027 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00028"></a>00028 <span class="comment"> * \date 22 July 2009</span>
<a name="l00029"></a>00029 <span class="comment"> * \version 0.1</span>
<a name="l00030"></a>00030 <span class="comment"> * \example mindsensors-pfmate-test1.c</span>
<a name="l00031"></a>00031 <span class="comment"> */</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="preprocessor">#pragma systemFile</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span>
<a name="l00035"></a>00035 <span class="preprocessor">#ifndef __MSPFM_H__</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define __MSPFM_H__</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#endif</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a><a class="code" href="group__pfmate.html#ga2a1d39dac9245c27867fe26919f28338">00042</a> <span class="preprocessor">#define MSPFM_I2C_ADDR    0x48      </span><span class="comment">/*!&lt; I2C address for sensor */</span>
<a name="l00043"></a><a class="code" href="group__pfmate.html#ga8ed140dd966e187fa028533472818b8c">00043</a> <span class="preprocessor">#define MSPFM_CMD         0x41      </span><span class="comment">/*!&lt; Command register */</span>
<a name="l00044"></a><a class="code" href="group__pfmate.html#ga98cb8aec27e0ae9377fa4c45f143eb6c">00044</a> <span class="preprocessor">#define MSPFM_IRCHAN      0x42      </span><span class="comment">/*!&lt; IR Channel selection register */</span>
<a name="l00045"></a><a class="code" href="group__pfmate.html#ga218f114a8e7fc7c4a4cc67532b709483">00045</a> <span class="preprocessor">#define MSPFM_MSELECT     0x43      </span><span class="comment">/*!&lt; Motor selection register */</span>
<a name="l00046"></a><a class="code" href="group__pfmate.html#ga34ba9ddcfc3a84002a3a19fda48ab67c">00046</a> <span class="preprocessor">#define MSPFM_MOTOPA      0x44      </span><span class="comment">/*!&lt; Motor A operation register */</span>
<a name="l00047"></a><a class="code" href="group__pfmate.html#ga9885b223370982e1da03609102886550">00047</a> <span class="preprocessor">#define MSPFM_MOTSPA      0x45      </span><span class="comment">/*!&lt; Motor A speed register */</span>
<a name="l00048"></a><a class="code" href="group__pfmate.html#ga27a9063e3e2edf1839b3035c6784db94">00048</a> <span class="preprocessor">#define MSPFM_MOTOPB      0x46      </span><span class="comment">/*!&lt; Motor B operation register */</span>
<a name="l00049"></a><a class="code" href="group__pfmate.html#gadb7b2312572a04cf8185472e628b150f">00049</a> <span class="preprocessor">#define MSPFM_MOTSPB      0x47      </span><span class="comment">/*!&lt; Motor B speed register */</span>
<a name="l00050"></a>00050 
<a name="l00051"></a><a class="code" href="group__pfmate.html#ga2bd29a316381c2e960fd93a38182ca10">00051</a> <span class="preprocessor">#define MSPFM_GOCMD       0x47      </span><span class="comment">/*!&lt; &quot;Go&quot; command to start sending IR signals to PF receiver */</span>
<a name="l00052"></a>00052 
<a name="l00053"></a><a class="code" href="group__pfmate.html#ga8a3932e570c46a6418551debffb3b3e2">00053</a> <span class="preprocessor">#define MSPFM_MOTORAB     0x00</span>
<a name="l00054"></a><a class="code" href="group__pfmate.html#ga3b45bd415ceeee316d024ee3ec0d5012">00054</a> <span class="preprocessor"></span><span class="preprocessor">#define MSPFM_MOTORA      0x01</span>
<a name="l00055"></a><a class="code" href="group__pfmate.html#ga71db9c09c7c8d0c311eb69fce41bb8da">00055</a> <span class="preprocessor"></span><span class="preprocessor">#define MSPFM_MOTORB      0x02</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span>
<a name="l00057"></a><a class="code" href="group__pfmate.html#ga367064634cae523bf2838d6839baf0fa">00057</a> <span class="preprocessor">#define MSPFM_FLOAT       0x00</span>
<a name="l00058"></a><a class="code" href="group__pfmate.html#ga548757e965bce1f636e74f5493cb2871">00058</a> <span class="preprocessor"></span><span class="preprocessor">#define MSPFM_FORWARD     0x01</span>
<a name="l00059"></a><a class="code" href="group__pfmate.html#gac9680e5a49cf90582263eab3ffd47fff">00059</a> <span class="preprocessor"></span><span class="preprocessor">#define MSPFM_REVERSE     0x02</span>
<a name="l00060"></a><a class="code" href="group__pfmate.html#ga24b05cd721ebedd747d39212b10f13cb">00060</a> <span class="preprocessor"></span><span class="preprocessor">#define MSPFM_BRAKE       0x03</span>
<a name="l00061"></a><a class="code" href="group__pfmate.html#gae98955756fd0bb394bcefa769a4549eb">00061</a> <span class="preprocessor"></span><span class="preprocessor">#define MSPFM_NOOP        0x0F</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span>
<a name="l00063"></a>00063 
<a name="l00064"></a>00064 <span class="keywordtype">bool</span> <a class="code" href="group__pfmate.html#ga1542c504ac26bc3da9410fab1d1ed996">MSPFMcontrolMotorA</a>(tSensors link, byte chan, byte motor_op, byte motor_speed, ubyte address = <a class="code" href="group__pfmate.html#ga2a1d39dac9245c27867fe26919f28338">MSPFM_I2C_ADDR</a>);
<a name="l00065"></a>00065 <span class="keywordtype">bool</span> <a class="code" href="group__pfmate.html#ga7d5254dbfb7257fbb4afce2a4eec904f">MSPFMcontrolMotorB</a>(tSensors link, byte chan, byte motor_op, byte motor_speed, ubyte address = <a class="code" href="group__pfmate.html#ga2a1d39dac9245c27867fe26919f28338">MSPFM_I2C_ADDR</a>);
<a name="l00066"></a>00066 <span class="keywordtype">bool</span> <a class="code" href="group__pfmate.html#ga58009d0e4e8387d37024407c156b0da9">MSPFMcontrolMotorAB</a>(tSensors link, byte chan, byte motorA_op, byte motorA_speed, byte motorB_op, byte motorB_speed, ubyte address = <a class="code" href="group__pfmate.html#ga2a1d39dac9245c27867fe26919f28338">MSPFM_I2C_ADDR</a>);
<a name="l00067"></a>00067 
<a name="l00068"></a>00068 
<a name="l00069"></a><a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">00069</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00070"></a>00070 
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment">/**</span>
<a name="l00073"></a>00073 <span class="comment"> * Control motor A with the PFMate.</span>
<a name="l00074"></a>00074 <span class="comment"> *</span>
<a name="l00075"></a>00075 <span class="comment"> * @param link the PFMate port number</span>
<a name="l00076"></a>00076 <span class="comment"> * @param chan the channel of the IR receiver, value of 1-4</span>
<a name="l00077"></a>00077 <span class="comment"> * @param motor_op motor A operation, 0: float, 1: forward, 2: reverse, 3: brake</span>
<a name="l00078"></a>00078 <span class="comment"> * @param motor_speed the speed at which motor A should turn, value between 1-7</span>
<a name="l00079"></a>00079 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x48</span>
<a name="l00080"></a>00080 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a><a class="code" href="group__pfmate.html#ga1542c504ac26bc3da9410fab1d1ed996">00082</a> <span class="keywordtype">bool</span> <a class="code" href="group__pfmate.html#ga1542c504ac26bc3da9410fab1d1ed996">MSPFMcontrolMotorA</a>(tSensors link, byte chan, byte motor_op, byte motor_speed, ubyte address) {
<a name="l00083"></a>00083   <span class="keywordflow">return</span> <a class="code" href="group__pfmate.html#ga58009d0e4e8387d37024407c156b0da9">MSPFMcontrolMotorAB</a>(link, chan, motor_op, motor_speed, <a class="code" href="group__pfmate.html#gae98955756fd0bb394bcefa769a4549eb">MSPFM_NOOP</a>, 0);
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085 
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment">/**</span>
<a name="l00088"></a>00088 <span class="comment"> * Control motor B with the PFMate.</span>
<a name="l00089"></a>00089 <span class="comment"> *</span>
<a name="l00090"></a>00090 <span class="comment"> * @param link the PFMate port number</span>
<a name="l00091"></a>00091 <span class="comment"> * @param chan the channel of the IR receiver, value of 1-4</span>
<a name="l00092"></a>00092 <span class="comment"> * @param motor_op motor B operation, 0: float, 1: forward, 2: reverse, 3: brake</span>
<a name="l00093"></a>00093 <span class="comment"> * @param motor_speed the speed at which motor B should turn, value between 1-7</span>
<a name="l00094"></a>00094 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x48</span>
<a name="l00095"></a>00095 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a><a class="code" href="group__pfmate.html#ga7d5254dbfb7257fbb4afce2a4eec904f">00097</a> <span class="keywordtype">bool</span> <a class="code" href="group__pfmate.html#ga7d5254dbfb7257fbb4afce2a4eec904f">MSPFMcontrolMotorB</a>(tSensors link, byte chan, byte motor_op, byte motor_speed, ubyte address) {
<a name="l00098"></a>00098   <span class="keywordflow">return</span> <a class="code" href="group__pfmate.html#ga58009d0e4e8387d37024407c156b0da9">MSPFMcontrolMotorAB</a>(link, chan, <a class="code" href="group__pfmate.html#gae98955756fd0bb394bcefa769a4549eb">MSPFM_NOOP</a>, 0, motor_op, motor_speed);
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100 
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment">/**</span>
<a name="l00103"></a>00103 <span class="comment"> * Control motors A and B with the PFMate.</span>
<a name="l00104"></a>00104 <span class="comment"> *</span>
<a name="l00105"></a>00105 <span class="comment"> * @param link the PFMate port number</span>
<a name="l00106"></a>00106 <span class="comment"> * @param chan the channel of the IR receiver, value of 1-4</span>
<a name="l00107"></a>00107 <span class="comment"> * @param motorA_op motor A operation, 0: float, 1: forward, 2: reverse, 3: brake</span>
<a name="l00108"></a>00108 <span class="comment"> * @param motorA_speed the speed at which motor A should turn, value between 1-7</span>
<a name="l00109"></a>00109 <span class="comment"> * @param motorB_op motor B operation, 0: float, 1: forward, 2: reverse, 3: brake</span>
<a name="l00110"></a>00110 <span class="comment"> * @param motorB_speed the speed at which motor B should turn, value between 1-7</span>
<a name="l00111"></a>00111 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x48</span>
<a name="l00112"></a>00112 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a><a class="code" href="group__pfmate.html#ga58009d0e4e8387d37024407c156b0da9">00114</a> <span class="keywordtype">bool</span> <a class="code" href="group__pfmate.html#ga58009d0e4e8387d37024407c156b0da9">MSPFMcontrolMotorAB</a>(tSensors link, byte chan, byte motorA_op, byte motorA_speed, byte motorB_op, byte motorB_speed, ubyte address) {
<a name="l00115"></a>00115   byte mselect = <a class="code" href="group__pfmate.html#ga8a3932e570c46a6418551debffb3b3e2">MSPFM_MOTORAB</a>;
<a name="l00116"></a>00116 
<a name="l00117"></a>00117   <span class="keywordflow">if</span> (motorA_op == <a class="code" href="group__pfmate.html#gae98955756fd0bb394bcefa769a4549eb">MSPFM_NOOP</a>)
<a name="l00118"></a>00118     mselect = <a class="code" href="group__pfmate.html#ga71db9c09c7c8d0c311eb69fce41bb8da">MSPFM_MOTORB</a>;
<a name="l00119"></a>00119   <span class="keywordflow">else</span> <span class="keywordflow">if</span> (motorB_op == <a class="code" href="group__pfmate.html#gae98955756fd0bb394bcefa769a4549eb">MSPFM_NOOP</a>)
<a name="l00120"></a>00120     mselect = <a class="code" href="group__pfmate.html#ga3b45bd415ceeee316d024ee3ec0d5012">MSPFM_MOTORA</a>;
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   memset(<a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00123"></a>00123   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[0] = 8;
<a name="l00124"></a>00124   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[1] = address;
<a name="l00125"></a>00125   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[2] = <a class="code" href="group__pfmate.html#ga98cb8aec27e0ae9377fa4c45f143eb6c">MSPFM_IRCHAN</a>;
<a name="l00126"></a>00126   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[3] = chan;
<a name="l00127"></a>00127   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[4] = mselect;
<a name="l00128"></a>00128   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[5] = motorA_op;
<a name="l00129"></a>00129   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[6] = motorA_speed;
<a name="l00130"></a>00130   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[7] = motorB_op;
<a name="l00131"></a>00131   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[8] = motorB_speed;
<a name="l00132"></a>00132 
<a name="l00133"></a>00133   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>))
<a name="l00134"></a>00134     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00135"></a>00135 
<a name="l00136"></a>00136   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[0] = 3;
<a name="l00137"></a>00137   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[1] = address;
<a name="l00138"></a>00138   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[2] = <a class="code" href="group__pfmate.html#ga8ed140dd966e187fa028533472818b8c">MSPFM_CMD</a>;
<a name="l00139"></a>00139   <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>[3] = <a class="code" href="group__pfmate.html#ga2bd29a316381c2e960fd93a38182ca10">MSPFM_GOCMD</a>;
<a name="l00140"></a>00140 
<a name="l00141"></a>00141   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__pfmate.html#ga365e9b978b20efeded8ec9b016d40a1d">MSPFM_I2CRequest</a>);
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143 
<a name="l00144"></a>00144 
<a name="l00145"></a>00145 <span class="preprocessor">#endif // __MSPFM_H__</span>
<a name="l00146"></a>00146 <span class="preprocessor"></span>
<a name="l00147"></a>00147 <span class="comment">/*</span>
<a name="l00148"></a>00148 <span class="comment"> * $Id: mindsensors-pfmate.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="comment">/* @} */</span>
<a name="l00151"></a>00151 <span class="comment">/* @} */</span>
</pre></div></div>
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